290 citations · 642 across the 24 of their papers we have counts for
24 papers
Event-triggered parameter estimator for sensor fusion
Ariana Méndez-Castillo, Irene Perez-Salesa, Rodrigo Aldana-López +2
This paper studies event-triggered parameter estimation in sensor fusion systems where sensors transmit measurements to a gradient based estimator. We introduce a regressor-driven…
Autonomous and non-autonomous fixed-time leader-follower consensus for second-order multi-agent systems
Miguel A. Trujillo, Rodrigo Aldana-López, David Gomez Gutierrez +3
This paper addresses the problem of consensus tracking with fixed-time convergence, for leader-follower multi-agent systems with double-integrator dynamics, where only a subset of…
Hierarchical parameter estimation for distributed networked systems: a dynamic consensus approach
Ariana R. Mendez-Castillo, Rodrigo Aldana-Lopez, Antonio Ramirez-Trevino +2
This work introduces a novel two-stage distributed framework to globally estimate constant parameters in a networked system, separating shared information from local estimation. Th…
A Note on Optimal Distributed State Estimation for Linear Time-Varying Systems
Irene Perez-Salesa, Rodrigo Aldana-Lopez, Carlos Sagues
In this technical note, we prove that the ODEFTC algorithm constitutes the first optimal distributed state estimator for continuous-time linear time-varying systems subject to stoc…
Towards Parameter-free Distributed Optimization: a Port-Hamiltonian Approach
Rodrigo Aldana-López, Alessandro Macchelli, Giuseppe Notarstefano +2
This paper introduces a novel distributed optimization technique for networked systems, which removes the dependency on specific parameter choices, notably the learning rate. Tradi…
NN-ETM: Enabling safe neural network-based event-triggering mechanisms for consensus problems
Irene Perez-Salesa, Rodrigo Aldana-Lopez, Carlos Sagues
Event-triggering mechanisms (ETMs) have been developed for consensus problems to reduce communication while ensuring performance guarantees, but their design has grown increasingly…
Distributed Discrete-time Dynamic Outer Approximation of the Intersection of Ellipsoids
Eduardo Sebastián, Rodrigo Aldana-López, Rosario Aragüés +2
This paper presents the first discrete-time distributed algorithm to track the tightest ellipsoids that outer approximates the global dynamic intersection of ellipsoids. Given an u…
Perception-latency aware distributed target tracking
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This work is devoted to the problem of distributed target tracking when a team of robots detect the target through a variable perception-latency mechanism. A reference for the robo…
PLATE: A perception-latency aware estimator,
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
Target tracking is a popular problem with many potential applications. There has been a lot of effort on improving the quality of the detection of targets using cameras through dif…
Latency vs precision: Stability preserving perception scheduling
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used t…
Event-Triggered Consensus for Continuous-Time Distributed Estimation
Irene Perez-Salesa, Rodrigo Aldana-Lopez, Carlos Sagues
Distributed sensor networks have gained interest thanks to the developments in processing power and communications. Event-triggering mechanisms can be useful in reducing communicat…
Distributed outer approximation of the intersection of ellipsoids
Rodrigo Aldana-Lopez, Eduardo Sebastian, Rosario Aragues +2
The outer Lowner-John method is widely used in sensor fusion applications to find the smallest ellipsoid that can approximate the intersection of a set of ellipsoids, described by…
Event-based Visual Tracking in Dynamic Environments
Irene Perez-Salesa, Rodrigo Aldana-Lopez, Carlos Sagues
Visual object tracking under challenging conditions of motion and light can be hindered by the capabilities of conventional cameras, prone to producing images with motion blur. Eve…
Implementing prescribed-time convergent control: sampling and robustness
Hernan Haimovich, Rodrigo Aldana-Lopez, Richard Seeber +1
According to recent results, convergence in a prespecified or prescribed finite time can be achieved under extreme model uncertainty if control is applied continuously over time. T…
Dynamic consensus with prescribed convergence time for multi-leader formation tracking
Rodrigo Aldana-López, David Gómez-Gutiérrez, Rosario Aragüés +1
This work addresses the problem of distributed formation tracking for a group of follower holonomic mobile robots around a reference signal. The reference signal is comprised of th…
REDCHO: Robust Exact Dynamic Consensus of High Order
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Recently, the EDCHO protocol leveraged…
EDCHO: High Order Exact Dynamic Consensus
Rodrigo Aldana-López, Rosario Aragüés, Carlos Sagüés
This article addresses the problem of average consensus in a multi-agent system when the desired consensus quantity is a time varying signal. Although this problem has been address…
A predefined-time first-order exact differentiator based on time-varying gains
Aldana-López R., Gómez-Gutiérrez D., Trujillo M. A. +3
Recently, a first-order differentiator based on time-varying gains was introduced in the literature, in its non recursive form, for a class of differentiable signals , satisf…
On predefined-time consensus protocols for dynamic networks
R. Aldana-López, D. Gómez-Gutiérrez, E. Jiménez-Rodríguez +2
This paper presents new classes of consensus protocols with fixed-time convergence, which enable the definition of an upper bound for consensus state as a parameter of the consensu…
A Hybrid Method for Online Trajectory Planning of Mobile Robots in Cluttered Environments
Leobardo Campos-Macías, David Gómez-Gutiérrez, Rodrigo Aldana-López +2
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via…
Autonomous Navigation of MAVs in Unknown Cluttered Environments
Leobardo Campos-Macías, Rodrigo Aldana-López, Rafael de la Guardia +2
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computati…
On the design of new classes of fixed-time stable systems with predefined upper bound for the settling time
R. Aldana-López, D. Gómez-Gutiérrez, E. Jiménez-Rodríguez +2
This paper aims to provide a methodology for generating autonomous and non-autonomous systems with a fixed-time stable equilibrium point where an Upper Bound of the Settling Time (…
A class of robust consensus algorithms with predefined-time convergence under switching topologies
R. Aldana-López, D. Gómez-Gutiérrez, M. Defoort +2
This paper addresses the robust consensus problem under switching topologies. Contrary to existing methods, the proposed approach provides decentralized protocols that achieve cons…
Enhancing the settling time estimation of a class of fixed-time stable systems
R. Aldana-López, D. Gómez-Gutiérrez, E. Jiménez-Rodríguez +2
This paper deals with the convergence time analysis of a class of fixed-time stable systems with the aim to provide a new non-conservative upper bound for its settling time. Our co…